@article {PB97,
	title = {Consistent Specification of Manipulation Tasks for Defective Mechanical Systems},
	journal = {ASME Jour. Dynam. Systems, Measurement, and Control},
	volume = {119},
	year = {1997},
	month = {December},
	pages = {767-777},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {D Prattichizzo and A. Bicchi}
}
